{
  "success": false,
  "checks": {
    "source_scene_identical": true,
    "source_initial_qpos_exact": true,
    "all_leg_transitions": false,
    "actual_pushup": false,
    "actual_jump": true,
    "final_flex": true,
    "grip_geometry": false,
    "final_stable": true
  },
  "legs": {
    "left_extend": {
      "reached": true,
      "passed": true,
      "forward_or_backward_travel_m": 0.4754469579756583,
      "lateral_excursion_m": 0.0471698348548113,
      "peak_sole_clearance_m": 0.07629975091614725,
      "airborne_recorded": true,
      "final_knee_rad": 0.2104748676972175,
      "landing_completed": true
    },
    "left_return": {
      "reached": true,
      "passed": true,
      "forward_or_backward_travel_m": 0.5486919554721366,
      "lateral_excursion_m": 0.04794220163994023,
      "peak_sole_clearance_m": 0.054685679724910785,
      "airborne_recorded": true,
      "final_knee_rad": 1.6875734276166676,
      "landing_completed": true
    },
    "right_extend": {
      "reached": true,
      "passed": true,
      "forward_or_backward_travel_m": 0.5433955307527757,
      "lateral_excursion_m": 0.04905028971597947,
      "peak_sole_clearance_m": 0.137963628452347,
      "airborne_recorded": true,
      "final_knee_rad": 0.1656644965544132,
      "landing_completed": true
    },
    "right_return": {
      "reached": true,
      "passed": false,
      "forward_or_backward_travel_m": 0.5319079717785477,
      "lateral_excursion_m": 0.08133630360835808,
      "peak_sole_clearance_m": 0.048010235466253895,
      "airborne_recorded": true,
      "final_knee_rad": 2.2777907735054104,
      "landing_completed": true
    }
  },
  "pushup": {
    "minimum_elbow_deg": [
      110.11160782211032,
      109.18962929961924
    ],
    "bend_excursion_deg": [
      52.75920643173329,
      50.924202796745476
    ],
    "raised_minimum_elbow_deg": [
      163.3072950591621,
      160.32332285368713
    ],
    "scope": "Geometric shoulder-elbow-wrist angles measured from the physical trajectory"
  },
  "flight_duration_lower_bound_s": 0.10000000000331966,
  "max_double_sole_clearance_m": 0.021631043357599924,
  "grip_geometry_valid_fraction": 0.5624284077892325,
  "scope": "Recorded-state audit at 50 Hz; flight duration is a lower bound; geometric grip does not alone establish opposed contact forces"
}